within ThreeD_MBS_Dynamics.Examples.Snakeboard;

model Disc
  extends RollingDisc.RollingDisc;
  annotation (Diagram);
  WrenchPort InPortJoint annotation (extent=[20,80; 40,100]);
equation
  F1 = InPortJoint.F;
  M1 = InPortJoint.M + cross(InPortJoint.P - r, InPortJoint.F);
end Disc;
